WO2020080200A1 - 移動体 - Google Patents

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Publication number
WO2020080200A1
WO2020080200A1 PCT/JP2019/039691 JP2019039691W WO2020080200A1 WO 2020080200 A1 WO2020080200 A1 WO 2020080200A1 JP 2019039691 W JP2019039691 W JP 2019039691W WO 2020080200 A1 WO2020080200 A1 WO 2020080200A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving
housing
motor
moving body
elevating
Prior art date
Application number
PCT/JP2019/039691
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
秀治 松田
福嶋　正造
雅也 下見
匡智 北田
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to JP2020553096A priority Critical patent/JP7466109B2/ja
Priority to DE112019005145.8T priority patent/DE112019005145T5/de
Priority to US17/283,727 priority patent/US20210339993A1/en
Priority to CN201980067748.4A priority patent/CN112912295A/zh
Publication of WO2020080200A1 publication Critical patent/WO2020080200A1/ja
Priority to JP2024043231A priority patent/JP2024083362A/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • B66F3/10—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated with telescopic sleeves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0471—Storage devices mechanical with access from beneath
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present disclosure relates to mobile objects. More specifically, the present invention relates to a moving body that moves along a moving surface.
  • Patent Document 1 discloses an automatic guided vehicle (moving body) that moves in a traveling area according to route data.
  • This automated guided vehicle carries a load, moves, and unloads.
  • the automatic guided vehicle has a function of avoiding the obstacle and traveling when the obstacle is detected ahead while the vehicle is traveling.
  • An object of the present disclosure is to provide a moving body capable of suppressing the size of the housing in the direction orthogonal to the traveling surface.
  • a moving body includes a housing, a moving motor, and a battery.
  • the moving motor moves the housing along the moving surface.
  • the battery supplies electric power to the moving motor.
  • the moving motor and the battery are arranged at different positions when viewed in the direction orthogonal to the moving surface.
  • FIG. 1 is a perspective view of a moving body according to an embodiment of the present disclosure.
  • FIG. 2 is a perspective view of the above-mentioned moving body and a conveyed object.
  • FIG. 3 is a perspective view of a drive wheel unit of the above moving body.
  • FIG. 4 is a cross-sectional view of an auxiliary wheel unit of the same mobile body.
  • FIG. 5 is an exploded perspective view of the above auxiliary wheel unit.
  • FIG. 6 is a schematic plan view of the moving body lifting mechanism.
  • FIG. 7: is a perspective view of the support unit of the same mobile body.
  • FIG. 8 is sectional drawing of a support unit same as the above.
  • FIG. 9 is a cross-sectional view showing a state where the support portion of the above support unit has moved upward.
  • FIG. 9 is a cross-sectional view showing a state where the support portion of the above support unit has moved upward.
  • FIG. 10 is an enlarged cross-sectional view of the movable part of the above support part.
  • FIG. 11 is an enlarged perspective view of the front part of the above-mentioned moving body.
  • FIG. 12 is an enlarged perspective view of the rear part of the above-mentioned moving body.
  • FIG. 13 is a block diagram of the above mobile unit.
  • FIG. 14 is an exploded perspective view of the above moving body.
  • FIG. 15 is a bottom view of the moving body of the above.
  • FIG. 16 is a side view of the moving body of the above.
  • FIG. 17 is a plan view of the moving body of the above.
  • FIG. 18 is a side view of the moving body of the above.
  • FIG. 19 is a plan view of the above moving body.
  • FIG. 19 is a plan view of the above moving body.
  • FIG. 20 is a cross-sectional view of a main part inside the housing of the moving body of the above.
  • FIG. 21 is a cross-sectional view of the vicinity of the intake port of the above moving body.
  • FIG. 22 is a side view of the rear part of the same mobile body.
  • Embodiment (1.1) Outline The moving body 1A according to the present embodiment moves along the moving surface 100 (see FIG. 2). As shown in FIG. 17, the moving body 1A includes a moving motor 220, a battery 92, and a housing 7.
  • the moving surface 100 is a surface on which the moving body 1A moves.
  • the moving surface 100 is a floor surface, an upper surface of a mat, a ground surface, an upper surface of asphalt, an upper surface of concrete, or the like.
  • the moving surface 100 may be indoors or outdoors. Examples of places include warehouses, factories, construction sites, stores (including shopping malls), distribution centers, offices, parks, houses, schools, hospitals, stations, airports, parking lots, inside vehicles, and the like. Examples of the inside of the vehicle include the inside of a ship, a train, and an airplane.
  • the moving surface 100 does not have to be horizontal and may have irregularities.
  • the moving motor 220 moves the housing 7 along the moving surface 100.
  • the moving motor 220 may be plural or single.
  • the moving motor 220 may be, for example, a motor that drives a wheel that supports the housing 7 on the moving surface 100, a motor that drives a pinion of the rack and pinion, or a wire when towing the wire. It may be a winding motor or the like.
  • the moving motor 220 is used as the drive source 22 that drives these.
  • the battery 92 supplies electric power to the moving motor 220 and the lifting motor 510.
  • the moving motor 220 and the battery 92 are arranged at different positions when viewed in the direction orthogonal to the moving surface 100.
  • the term "arranged at different positions" as used herein means that the respective elements do not overlap each other when viewed in the direction orthogonal to the moving surface 100, and the distance between the respective elements is not particularly limited. For example, when two elements are in contact with each other so as to be adjacent to each other but do not overlap each other when viewed in a direction orthogonal to the moving surface 100, it is included in “arranged at different positions”.
  • the moving body 1A of the present embodiment since the moving motor 220 and the battery 92 do not overlap in the direction orthogonal to the traveling surface (moving surface 100), the traveling surface (moving surface 100) is orthogonal. It is possible to keep the size of the housing 7 in the direction of movement as small as possible.
  • the moving body 1A according to the present embodiment will be described in detail.
  • the moving surface 100 will be described as a horizontal surface unless otherwise specified, but the moving surface 100 does not have to be a horizontal surface.
  • two mutually opposite directions orthogonal to the moving surface 100 are collectively defined as “up and down direction”, and the moving direction of the moving body 1A when the moving body 1A moves forward is “forward direction”, and the opposite direction is “rearward direction”.
  • the front direction and the rear direction are collectively referred to as the “front-back direction”.
  • two directions, which are opposite to each other and are orthogonal to both the up-down direction and the front-rear direction are defined as the “left-right direction”.
  • the definition of these directions is not intended to limit the usage of the moving body 1A.
  • the arrows indicating the respective directions in the drawings are shown only for the purpose of description, and do not have substance.
  • the moving body 1A is a device that moves along the moving surface 100.
  • a mode in which the plurality of wheels 10 move on the moving surface 100 as the moving body 1A will be described as an example.
  • the moving body 1A is not limited to the mode in which the moving body 1 moves with the plurality of wheels 10.
  • the moving body 1A moves along the moving surface 100 when the wheel 10 grounded on the moving surface 100 rotates about a rotation axis R1 parallel to the moving surface 100.
  • the moving body 1A moves to a target place with the conveyed object X1 placed thereon.
  • the moving body 1A according to the present embodiment is the transfer device 1 that moves the transfer object X1.
  • the conveyance apparatus 1 which is an example of 1 A of mobile bodies is demonstrated in detail.
  • the carrier device 1 receives a control signal within a predetermined area, receives an instruction from the control signal, and carries the work X1.
  • the "predetermined area" in the present disclosure is, for example, a warehouse, a factory, a construction site, a store (including a shopping mall), a distribution center, an office, a park, a house, a school, a hospital, a station, an airport, a parking lot, etc. Is.
  • the “predetermined area” may be, for example, the inside of a vehicle such as a ship, a train, or an airplane. In this embodiment, the predetermined area is a distribution warehouse.
  • the transported object X1 is an object to be transported.
  • Examples of the conveyed product X1 include a package, a product in a manufacturing factory, a product in the process of manufacturing (semi-finished product), and a pallet on which a package is placed.
  • the conveyed product X1 is a roll box pallet on which loads are loaded, as shown in FIG.
  • the transported object X1 may be referred to as a “placed object”.
  • the carrier device 1 includes an elevating part 70 on which the object X1 is placed.
  • the elevating unit 70 moves up and down with respect to the moving surface 100.
  • the transport device 1 moves so as to enter below the transported object X1, raises the elevating unit 70, and places the transported object X1 on the elevating unit 70.
  • the carrier device 1 moves to the destination and lowers the elevating unit 70.
  • the transfer device 1 transfers the transfer object X1.
  • the lifting unit 70 will be described in detail in “(1.2.4) Lifting mechanism”.
  • the carrier device 1 includes a housing 7 including a lifting unit 70, a control unit 9 (see FIG. 13), a plurality (here, two) of drive wheel units 2, and a plurality (here, here). Two (2) auxiliary wheel units 3 and a plurality (two here) of lifting mechanisms 5 (see FIG. 6) are provided.
  • the transport device 1 further includes a detection unit 91 (see FIG. 13) and a battery 92 (see FIG. 17).
  • the drive wheel unit 2 moves the transport device 1 along the moving surface 100.
  • the drive wheel unit 2 is arranged at the center in the front-rear direction as shown in FIG.
  • the "central portion” here means a portion having a length that is 1 ⁇ 3 of the entire length of the carrier device 1 in the front-rear direction and has a range evenly distributed in the front-rear direction from the center of the carrier device 1 in the front-rear direction.
  • the position where the drive wheel unit 2 is arranged is not particularly limited. As shown in FIG. 3, the two drive wheel units 2 are arranged so as to be bilaterally symmetrical to each other in the central portion in the front-rear direction of the transport device 1.
  • Each drive wheel unit 2 includes a base 21, a drive source 22, a drive pulley 23 and a driven pulley 24, a power transmission body 25, a shaft 26, a bearing unit 27, and wheels 10.
  • the power generated by the drive source 22 is transmitted in the order of the drive pulley 23, the power transmission body 25, the driven pulley 24, the shaft 26, and the wheel 10.
  • the wheel 10 supports the housing 7 on the moving surface 100, the wheel 10 here may be referred to as a “driving wheel 28” in the present disclosure.
  • the “driving wheel 28” as referred to in the present disclosure is the wheel 10 that operates by directly or indirectly receiving power from the driving source 22.
  • the two drive wheel units 2 have the same structure as each other, the same reference numerals are given and redundant description will be appropriately omitted.
  • the base 21 is fixed to the housing 7.
  • the base 21 is configured by a rectangular plate member having a width direction in the up-down direction and a length direction in the front-rear direction.
  • a drive source 22, a drive pulley 23, a driven pulley 24, and a part of the bearing unit 27 are attached to the base 21.
  • the drive source 22 is a power generation source and drives the drive wheels 28.
  • the drive source 22 is the moving motor 220.
  • the moving motor 220 according to the present embodiment is an electric motor.
  • the drive source 22 may be a hydraulic motor, an air motor, or the like.
  • An output shaft (not shown) of the moving motor 220 extends in the left-right direction, and in particular, the tip end of the output shaft faces the center side in the left-right direction.
  • the drive pulley 23 is connected to the tip of the output shaft of the moving motor 220.
  • the drive pulley 23 and the driven pulley 24 are attached to the base 21 so as to be rotatable about an axis parallel to the left-right direction.
  • the drive pulley 23 and the driven pulley 24 are spaced apart from each other in the front-rear direction.
  • the drive pulley 23 receives power from the moving motor 220 and rotates about the output shaft of the moving motor 220.
  • the drive pulley 23 and the driven pulley 24 are connected via a power transmission body 25 so that power can be transmitted.
  • the power transmission body 25 transmits power from the drive pulley 23 to the driven pulley 24.
  • the power transmission body 25 is an endless belt in this embodiment.
  • the power transmission body 25 may be a chain, a wire, a rope, a shaft, a gear, or the like.
  • the driven pulley 24 is a pulley to which the power from the drive pulley 23 is transmitted via the power transmission body 25.
  • the outer diameter of the driven pulley 24 is larger than the outer diameter of the drive pulley 23.
  • the outer diameter of the driven pulley 24 may be equal to or smaller than the outer diameter of the drive pulley 23.
  • a shaft 26 is concentrically connected to the driven pulley 24.
  • the shaft 26 connects the drive wheel 28 and the driven pulley 24.
  • the shaft 26 is supported by a bearing unit 27 so as to be rotatable around a rotation axis R1 extending in the left-right direction. In short, the shaft 26 rotates the drive wheel 28 around the rotation axis R1.
  • the drive wheel 28 is rotated by the power transmitted from the drive source 22.
  • the drive wheel 28 is connected to the end of the shaft 26 in the longitudinal direction.
  • the drive wheel 28 includes a wheel 281 connected to the shaft 26 and a tire 282 in the present embodiment.
  • the tire 282 is made of resin lined around the wheel 281.
  • the tire 282 may be a rubber tire, and in this case, may be solid or hollow.
  • the drive wheel 28 does not have to include the wheel 281, and may be a wheel entirely made of resin or the like. Further, the drive wheels 28 may be provided with an endless track (crawler).
  • the power generated from the moving motor 220 is transmitted in the order of the drive pulley 23, the power transmission body 25, the driven pulley 24, and the shaft 26 to drive the drive wheel 28.
  • the drive wheels 28 are indirectly powered by the moving motor 220.
  • the driving force may be directly applied to the drive wheel 28 by directly connecting the drive wheel 28 to the output shaft of the moving motor 220 or using an in-wheel motor.
  • the moving motor 220 of each drive wheel unit 2 can appropriately switch the rotation direction of the output shaft between the forward rotation direction and the reverse rotation direction.
  • the "forward rotation direction” here means the rotation direction of the output shaft when the transport device 1 moves forward, and the “reverse rotation direction” the output when the transport device 1 moves backward. It means the direction of rotation of the shaft.
  • the movement motor 220 of one drive wheel unit 2 operates independently of the movement motor 220 of the other drive wheel unit 2.
  • each drive wheel unit 2 is independent. Therefore, in the transport device 1 according to the present embodiment, the two drive wheels 28 rotate at different angular velocities so that they can turn in any of the left and right directions, and by rotating at the same angular velocity, they are linear. You can drive to. Therefore, the carrier device 1 according to the present embodiment can perform forward movement, backward movement, and turning in the left-right direction (including a turning turn and a super turning turn).
  • the backward speed of the carrier device 1 is slower than the forward speed.
  • the forward speed and the reverse speed of the transport device 1 may be the same speed.
  • the two drive wheel units 2 are arranged apart from each other in the left-right direction at the center of the housing 7 in the front-rear direction.
  • the two drive wheel units 2 are arranged symmetrically, and the outer end surface of the drive wheel 28 in the left-right direction is the outer end surface of the housing 7 in the left-right direction. It is located inside. That is, the two drive wheels 28 are accommodated in the housing 7 in a plan view.
  • the two auxiliary wheel units 3 are arranged apart from each other in the front-rear direction, and the drive wheel unit 2 is arranged between the two auxiliary wheel units 3.
  • Each auxiliary wheel unit 3 has at least one auxiliary wheel 45, as will be described later in “(1.2.3) auxiliary wheel unit”.
  • at least one drive wheel 28 is arranged between the plurality of auxiliary wheels 45.
  • the two drive wheel units 2 are arranged at the same position in the front-rear direction, but they may be arranged at positions displaced in the front-rear direction.
  • the carrier device 1 may be the carrier device 1 including only one drive wheel unit 2.
  • the drive wheel 28 may be formed to have a width extending over substantially the entire length in the left-right direction, or may be arranged at the center in the left-right direction. Even in this case, at least one drive wheel unit 2 is preferably arranged between the two auxiliary wheel units 3.
  • the auxiliary wheel unit 3 is a unit including the wheels 10 (see FIG. 4) that assist the movement of the drive wheels 28.
  • one of the plurality of auxiliary wheel units 3 is arranged in front of the plurality of drive wheel units 2, and the other one is the plurality of drive wheel units 2. It is placed behind.
  • the auxiliary wheel unit 3 arranged in front of the plurality of drive wheel units 2 is referred to as a “first auxiliary wheel unit 3A”, and the auxiliary wheel unit 3 arranged behind the plurality of drive wheel units 2 is referred to as “first auxiliary wheel unit 3A”.
  • the second auxiliary wheel unit 3B is used.
  • the first auxiliary wheel unit 3A is arranged at the center of the bottom plate 74 of the housing 7 in the left-right direction.
  • the “front portion” here means a portion of the housing 7 that has a range in front of the central portion in the front-rear direction.
  • FIG. 4 shows a cross-sectional view of the first auxiliary wheel unit 3A in a vertical plane.
  • the first auxiliary wheel unit 3A includes a case 31, an auxiliary wheel support portion 34, a shock absorbing mechanism 39, and wheels 10.
  • the case 31 is a portion attached to the housing 7 in the first auxiliary wheel unit 3A.
  • the case 31 includes a case body 32 and a flange piece 33.
  • the case body 32 includes a plurality of side plates 321 and an upper plate 322, and is formed in a rectangular parallelepiped shape having an opening surface in the downward direction.
  • the flange piece 33 is formed outside the opening surface of the case body 32.
  • an opening 746 for attaching the first auxiliary wheel unit 3A is formed in the bottom plate 74 of the housing 7.
  • the case main body 32 is passed through the opening 746 to fit inside the housing 7, and the flange piece 33 is arranged along the lower surface of the bottom plate 74 of the housing 7. To be done.
  • the flange piece 33 is screwed to the bottom plate 74.
  • the wheel 10 supports the housing 7 on the moving surface 100, but the wheel 10 here may be referred to as an “auxiliary wheel 45” in the present disclosure.
  • the “auxiliary wheel 45” referred to in the present disclosure is the wheel 10 that receives no power from the drive source 22, and moves according to the movement of the housing 7 by the plurality of drive wheels 28.
  • the auxiliary wheel 45 includes a plurality of rollers 451 and a plurality of bearings 452.
  • Each roller 451 is formed in a cylindrical shape whose central axis is the rotation axis.
  • Each roller 451 is made of resin, for example.
  • the roller 451 may be made of, for example, rubber, elastomer, urethane, nylon, phenol, polycarbonate, or the like.
  • the color of the roller 451 is preferably similar to the color of the moving surface 100.
  • the plurality of rollers 451 are adjacent to each other along the rotation axis.
  • the plurality of bearings 452 are concentrically fitted in the central portion of the plurality of rollers 451.
  • the bearing 452 is arranged between the mounting shaft 35 included in the auxiliary wheel support portion 34 and the plurality of rollers 451.
  • the bearing 452 includes a ball bearing, a roller bearing, and the like.
  • the auxiliary wheel support portion 34 supports the auxiliary wheel 45 rotatably around a rotation axis parallel to the moving surface 100. Further, the auxiliary wheel support portion 34 is supported by the movable frame 40 included in the buffer mechanism 39 so as to be rotatable about an axis extending in the up-down direction.
  • the auxiliary wheel support portion 34 includes a mounting shaft 35, a support portion main body 36, a retaining member 37, and a stopper 38.
  • the mounting shaft 35 supports the auxiliary wheel 45 rotatably around the rotation axis.
  • the mounting shaft 35 extends in one direction along the moving surface 100. Specifically, the mounting shaft 35 is inserted in the center of the inner ring of the bearing 452.
  • the mounting shaft 35 is supported by the support body 36.
  • the support body 36 is a member to which the mounting shaft 35 is attached.
  • the support portion main body 36 includes a pair of grooves 361 and an upper contact surface 362. Each groove 361 is opened downward, and the end of the mounting shaft 35 fits in through the opening.
  • the retaining member 37 is attached to the support portion main body 36 in a state where the corresponding ends of the attachment shaft 35 are fitted in the pair of grooves 361. The retaining member 37 regulates the downward movement of the mounting shaft 35 in which the ends corresponding to the pair of grooves 361 are fitted.
  • the upper contact surface 362 is a surface facing upward, and corresponds to the lower surface of the bearing body 42 of the buffer mechanism 39.
  • the support portion main body 36 transmits the force to the bearing body 42 by the upper contact surface 362.
  • the stopper 38 is supported by a bearing 42 included in the buffer mechanism 39 so as to be rotatable about a rotation axis R2 along the vertical direction. Further, the stopper 38 is fixed to the support body 36. Since the bearing 42 is attached to the movable frame 40 included in the cushioning mechanism 39 as described later, the stopper 38 is rotatably supported by the movable frame 40 around the rotation axis R2.
  • the stopper 38 includes a shaft portion 381 that is passed through the center of the bearing body 42, and a flange portion 382 that projects in the radial direction from the upper end portion of the shaft portion 381.
  • the flange portion 382 is mounted on the upper surface of the bearing body 42.
  • the support body 36 is attached to the lower end of the shaft 381.
  • the shock absorbing mechanism 39 is a mechanism for softening the shock input from the auxiliary wheel 45.
  • the auxiliary wheel unit 3 includes the buffer mechanism 39, while the drive wheel unit 2 does not include the buffer mechanism 39.
  • the transport device 1 according to the present embodiment is not provided with the buffer mechanism 39 that softens the impact input from the drive wheels 28. Therefore, while simplifying the structure of the drive wheel unit 2 that tends to be a complicated mechanism as much as possible, by providing the auxiliary wheel unit 3 with the buffer mechanism 39, the transport apparatus 1 can be downsized in the vertical direction and smoothly. Move can be realized.
  • the buffer mechanism 39 includes a movable frame 40, a plurality of slide bodies 41, a bearing body 42, a pressing plate 43, and a plurality of buffer springs 44.
  • the movable frame 40 is attached to the case 31 so as to be vertically movable.
  • the movable frame 40 and the case 31 may be attached only by fitting, or may be movably screwed.
  • the movable frame 40 includes a through hole 401 and a plurality of spring mounting portions 402.
  • the through hole 401 accommodates the bearing body 42 and allows the shaft portion 381 of the stopper 38 to pass therethrough.
  • the through hole 401 has a circular shape when viewed from above (hereinafter, plan view), and is formed in the center of the movable frame 40.
  • the plurality of spring mounting portions 402 are portions for mounting the plurality of buffer springs 44.
  • each spring attachment portion 402 includes a spring contact surface 403 that abuts the lower end of the buffer spring 44, and a through hole 404 through which the fixing pin 441 passes.
  • the through hole 404 may penetrate the movable frame 40 in the vertical direction, or may not penetrate the movable frame 40.
  • the sliding body 41 is arranged between the outer side surface of the movable frame 40 and the inner side surface of the case 31, and reduces friction that may occur when the movable frame 40 moves in the up-down direction.
  • the sliding body 41 is formed in a plate shape in this embodiment.
  • the main surface of the sliding body 41 is a vertical surface and faces the inner surface of the case 31.
  • the sliding body 41 is attached to the movable frame 40 in this embodiment.
  • the friction coefficient of the sliding body 41 is smaller than the friction coefficient of the movable frame 40.
  • the sliding body 41 is made of, for example, fluororesin, nylon, tetrafluoroethylene resin, or the like. However, the sliding body 41 may be attached over the entire inner surface of the case 31, or the side plate 321 of the case 31 may be formed of a material having a friction coefficient of the sliding body 41 or less.
  • the bearing body 42 rotatably supports the stopper 38 around the rotation axis R2, that is, the bearing body 42 supports the auxiliary wheel support portion 34.
  • the bearing body 42 is fitted into the through hole 401 of the movable frame 40, and thereby attached to the movable frame 40.
  • the bearing 42 is composed of, for example, a rolling bearing (ball bearing, roller bearing, etc.), a sliding bearing, a fluid bearing, or the like.
  • the pressing plate 43 regulates the upward movement of the bearing body 42.
  • the pressing plate 43 is fixed to the movable frame 40 above the bearing body 42 fitted in the through hole 401 of the movable frame 40.
  • the upward force input from the auxiliary wheel 45 can be received by the pressing plate 43 even if it is applied to the bearing body 42 via the auxiliary wheel support portion 34.
  • the pressing plate 43 receives the force, the movable frame 40 moves upward with respect to the case 31.
  • the plurality of buffer springs 44 are arranged between the upper surface of the movable frame 40 and the lower surface of the upper plate 322 of the case 31.
  • Each buffer spring 44 is elastically deformable in the vertical direction. Therefore, when the movable frame 40 moves upward with respect to the case 31, the plurality of buffer springs 44 are elastically deformed in the vertical direction and can absorb the shock.
  • each buffer spring 44 is a coil spring having a central axis parallel to the vertical direction.
  • the buffer spring 44 is not limited to the coil spring and may have any spring property.
  • the buffer spring 44 may be, for example, a leaf spring (including a thin leaf spring), a disc spring, a rubber spring, an air spring, a vibration proof rubber, a cushion rubber, or the like.
  • the plurality of buffer springs 44 are attached to the spring attachment portions 402 formed at the four corners of the movable frame 40. As a result, when the movable frame 40 moves upward with respect to the case 31, the plurality of buffer springs 44 bend substantially evenly. As a result, the movable frame 40 can move in parallel along the vertical direction.
  • all the deflections of the plurality of buffer springs 44 are the same.
  • the “total deflection” in the present disclosure means a deflection obtained by subtracting the height (adhesion height) that is maximally compressed by being loaded from the height (free height) that is not loaded.
  • the total deflection of the buffer spring 44 of the first auxiliary wheel unit 3A is about 3 mm.
  • the second auxiliary wheel unit 3B is arranged at the center of the bottom plate 74 of the housing 7 in the left-right direction.
  • the “rear part” here means a part of the housing 7 having a range behind the central part in the front-rear direction.
  • the second auxiliary wheel unit 3B has the same structure as the first auxiliary wheel unit 3A.
  • the buffer spring 44 of the second auxiliary wheel unit 3B has a different total deflection from the buffer spring 44 of the first auxiliary wheel unit 3A.
  • the total deflection of the buffer spring 44 of the second auxiliary wheel unit 3B is about 8 mm. That is, as described above, since the total deflection of the buffer spring 44 of the first auxiliary wheel unit 3A is about 3 mm, the total deflection of the buffer spring 44 of the second auxiliary wheel unit 3B is the same as that of the first auxiliary wheel unit 3A. It is larger than the buffer spring 44. As a result, it is possible to reduce the amount by which the portion of the housing 7 (the front portion of the housing 7 in this embodiment) corresponding to the first auxiliary wheel unit 3A can move downward.
  • the transported object X1 is placed at the position corresponding to the first auxiliary wheel unit 3A, the amount of sinking of the front portion of the transportation device 1 can be suppressed.
  • a laser sensor is provided in the front part of the carrier device 1, it is possible to prevent the front part of the carrier device 1 from being excessively sunk and the sensor from erroneously detecting the traveling surface (moving surface 100). it can.
  • the carrier device 1 can be lifted and lowered independently of the moving surface 100.
  • a plurality of elevating units 70 are provided.
  • the elevating part 70 is a part on which the conveyed object X1 (placed object) is placed, and is a part of the housing 7 in the present embodiment.
  • the carrying device 1 according to the present embodiment moves into a space below a roll box pallet (carrying object X1) on which a load is placed, and thereafter, at least one of the plurality of elevating units 70.
  • One moves up and lifts the conveyed product X1.
  • the transfer device 1 moves in a state where the transfer object X1 is lifted.
  • the transport device 1 moves to the lower side of the transported article X1, the elevating unit 70 rises, and the transported articles X1 are stacked.
  • the worker may place the conveyed object X1 on the elevating part 70 without moving the elevating part 70, and the carrier device 1 may move in this state.
  • the transport device 1 includes a plurality of lifting mechanisms 5 (see FIG. 6) that lift a plurality of lifting units 70.
  • the elevating mechanism 5 is a mechanism for elevating the elevating part 70 on which the conveyed product X1 is placed.
  • the carrier device 1 includes a plurality of (here, two) lifting mechanisms 5.
  • the plurality of lifting mechanisms 5 have a one-to-one relationship with the plurality of lifting units 70.
  • One of the plurality of lifting mechanisms 5 is arranged at the front part of the housing 7, and the other lifting mechanism 5 is arranged at the rear part of the housing 7.
  • the elevating mechanism 5 arranged at the front part and the elevating mechanism 5 arranged at the rear part are the same mechanism.
  • the elevating mechanism 5 arranged at the front part will be mainly described.
  • FIG. 6 shows a schematic view of the lifting mechanism 5 arranged in the front part.
  • Each elevating mechanism 5 includes one drive source 51, a drive shaft 52, a plurality (here, two) of support units 53, and a placement sensor 95 (see FIG. 13).
  • the drive source 51 is a power generation source and drives the support unit 53. Since the elevating part 70 moves according to the operation of the support unit 53, the drive source 51 drives the elevating part 70.
  • the drive source 51 is the lifting motor 510.
  • the lifting motor 510 according to the present embodiment is an electric motor.
  • the drive source 51 may be a hydraulic motor, an air motor, or the like.
  • the power output from the output shaft of the lifting motor 510 is transmitted to the drive shaft 52 and rotates the drive shaft 52 around the rotation axis R3.
  • a drive gear 511 is fixed to the output shaft of the lifting motor 510.
  • the drive shaft 52 divides the power input from the lifting motor 510 into a plurality of locations separated from each other and transmits the power to the plurality of support units 53.
  • a driven gear 521 meshing with the drive gear 511 is fixed to a part of the drive shaft 52.
  • the elevating motor 510 rotates, its power is transmitted to the drive shaft 52 via the drive gear 511 and the driven gear 521.
  • the drive shaft 52 rotates around the rotation axis R3. Both ends of the drive shaft 52 are connected to the support unit 53.
  • the power output from the lifting motor 510 can be transmitted to the plurality of support units 53 that are separated from each other.
  • Each support unit 53 is a unit for raising and lowering the elevating unit 70.
  • the plurality of support units 53 operate in conjunction with each other. Therefore, the raising operation and the lowering operation of the plurality of support units 53 are synchronized.
  • FIG. 7 shows a perspective view of one support unit 53.
  • the support unit 53 includes an installation table 54, a gear box 55, a support section 56, and a guide section 61.
  • the installation stand 54 is fixed to the housing 7 with the gear box 55, the support portion 56 and the guide portion 61 attached.
  • the installation table 54 includes a first plate 541 that is substantially parallel to the moving surface 100, and a second plate 542 attached to the first plate 541.
  • the second plate 542 is raised with respect to the first plate 541.
  • the gearbox 55 is connected to the drive shaft 52, and the power around the rotation axis R3 of the drive shaft 52 is input.
  • the gear box 55 includes a plurality of gears, and outputs the input power as power around the rotary shaft R4 extending in the vertical direction as shown in FIG.
  • the output shaft of the gear box 55 projects below the first plate 541.
  • a first gear 551 that is rotatable around the rotation axis R4 is fixed to the output shaft of the gear box 55.
  • the rotation axis of the input power and the rotation axis of the output power are orthogonal to each other.
  • the angle formed by the rotation axis of the input power and the rotation axis of the output power is not limited to the case of being orthogonal, and may be greater than 0 ° and less than 90 °, or more than 90 °. May be large. In short, the angle between the rotation axis of the input power and the rotation axis of the output power has only to intersect.
  • the gear box 55 may have a deceleration function of outputting the input rotation speed at different rotation speeds.
  • the first gear 551 meshes with the second gear 57 included in the support portion 56, and rotates the second gear 57 around the rotation axis R5 along the vertical direction.
  • the support part 56 is a part that moves in the vertical direction by the power output from the lifting motor 510.
  • the lifting / lowering unit 70 moves up when the support 56 moves upward, and the lifting / lowering unit 70 moves down when the support 56 moves down.
  • the support part 56 supports one elevating part 70 of the elevating parts 70, and moves the elevating part 70 along the elevating direction.
  • "Move vertically” means that at least a part of the support portion 56 moves vertically, and part of the support portion 56 moves so as to deform or the whole moves. The case is also included. The same applies to “move upward” and “move downward”.
  • the support portion 56 includes a second gear 57, a rotary cylinder 58, a mover 59, and a telescopic cover 60.
  • the second gear 57 meshes with the first gear 551 and rotates around the rotation axis R5 as the first gear 551 rotates.
  • the second gear 57 is attached to the lower surface of the first plate 541 so as to be rotatable around the rotation axis R5.
  • a through hole is formed in the center of the second gear 57 so as to penetrate therethrough in the vertical direction. A part of the mover 59 is passed through the through hole.
  • the rotary cylinder 58 is fixed to the second gear 57 and rotates around the rotation axis R5 as the rotary cylinder 58 rotates.
  • the rotary cylinder 58 is concentrically attached to the second gear 57.
  • the rotation cylinder 58 and the second gear 57 are mounted by screwing in the present embodiment, they may be mounted by welding, pinning, fitting or the like. Further, the rotary cylinder 58 and the second gear 57 may be integrally formed by casting, die casting or the like.
  • the rotary cylinder 58 is formed in a cylindrical shape.
  • a first engagement portion 581 is formed on the inner peripheral surface of the rotary cylinder 58.
  • the first engaging portion 581 is a portion that engages with the mover 59.
  • “engagement” means that the moving element 59 is engaged with the moving element 59 to the extent that the moving element 59 can be moved in the vertical direction by applying power from the rotary cylinder 58.
  • the first engagement portion 581 is realized by a female screw in this embodiment.
  • the internal thread is a trapezoidal thread, but may be a square thread, a triangular thread, a round thread, or the like.
  • the mover 59 moves along the vertical direction as the rotary cylinder 58 rotates.
  • the mover 59 is arranged inside the rotary cylinder 58 while being engaged with the first engaging portion 581 of the rotary cylinder 58.
  • the upper end of the mover 59 is fixed to the elevating part 70 (specifically, it is attached to the backup plate 75), and the mover 59 moves in the vertical direction as the rotary cylinder 58 rotates. It moves along, but does not rotate around the rotation axis R5.
  • the mover 59 includes a shaft body 591, a movable portion 593, and an elastic body 597.
  • the shaft body 591 moves in the up-down direction while engaging with the first engaging portion 581.
  • the shaft body 591 extends in the vertical direction.
  • the shaft body 591 has a second engaging portion 592 that engages with the first engaging portion 581.
  • the second engagement portion 592 is formed on the outer peripheral surface of the lower end portion of the shaft body 591.
  • the second engaging portion 592 is a portion that engages with the first engaging portion 581.
  • the second engaging portion 592 moves along the rotation axis R5 (along the up-down direction) as the rotation cylinder 58 rotates about the rotation axis R5.
  • the second engaging portion 592 is a male screw in this embodiment.
  • the male screw corresponds to the female screw of the first engaging portion 581.
  • the male screw according to this embodiment is a trapezoidal screw.
  • the female screw of the first engaging portion 581 is a square screw, a triangular screw, or a round screw
  • the second engaging portion 592 is a corresponding screw.
  • the first engaging portion 581 and the second engaging portion 592 need only move in the up-down direction while the shaft main body 591 is engaged with each other. Therefore, the specific configuration is not limited to the female screw and the male screw.
  • one of the first engaging portion 581 and the second engaging portion 592 may be a screw or a spiral groove, and the other may be a protrusion or a screw engaging with the spiral groove.
  • a structure such as a ball screw may be adopted, and the first engaging portion 581 and the second engaging portion 592 may be engaged with each other via an intermediate product such as a plurality of balls.
  • the movable portion 593 is attached to the upper end of the shaft body 591 so as to be movable with respect to the shaft body 591 along the central axis of the shaft body 591. Since the movable portion 593 is attached to the upper end portion of the shaft body 591, when a shock is applied to the elevating unit 70 from the conveyed product X1, the shock can be softened.
  • the movable portion 593 is constantly pushed upward by the elastic body 597. As shown in FIG. 10, the movable portion 593 includes a movable portion main body 594, a plurality of guide pins 595, and a plurality of sleeve bearings 596a and 596b.
  • the movable portion main body 594 is formed in a tubular shape, and has an intermediate partition 594a protruding toward the center at the intermediate portion in the vertical direction.
  • the intermediate partition 594a is formed with a hole for passing each guide pin 595, and the movable portion main body 594 moves along the longitudinal direction (vertical direction) of each guide pin 595.
  • the guide pin 595 guides the movement of the movable body 594.
  • the longitudinal direction of the guide pin 595 is along the vertical direction.
  • the lower end of the guide pin 595 is fixed to the upper end of the shaft body 591.
  • the plurality of guide pins 595 are arranged at this pitch around the rotation axis R5 (see FIG. 8).
  • the sleeve bearings 596a and 596b reduce the frictional force when the movable portion main body 594 moves vertically with respect to the shaft main body 591.
  • the sleeve bearings 596a and 596b are arranged between the inner surface of the movable portion main body 594 and the outer surface of the shaft main body 591.
  • the sleeve bearings 596a and 596b are formed in a cylindrical shape and are attached to the inner surface of the movable portion main body 594.
  • the elastic body 597 pushes the movable portion 593 upward.
  • the elastic body 597 is a coil spring in this embodiment.
  • the elastic body 597 is not limited to the coil spring and may have a spring property.
  • the elastic body 597 may be, for example, a leaf spring (including a thin leaf spring), a disc spring, a rubber spring, an air spring, a vibration proof rubber, a cushion rubber, or the like.
  • the expandable cover 60 is a cover that expands and contracts as the mover 59 moves.
  • the expandable cover 60 covers the outer peripheral surfaces of the mover 59 and the rotary cylinder 58.
  • the upper end of the expandable cover 60 is fixed to the elevating part 70 (specifically, attached to the backup plate 75).
  • the expandable cover 60 contracts downward.
  • the expandable cover 60 includes a fixed cylinder portion 601, a first movable cylinder portion 602, and a second movable cylinder portion 603.
  • the fixed cylinder portion 601 is fixed to the first plate 541.
  • the fixed cylinder portion 601 has an outer diameter larger than the outer diameter of the rotary cylinder 58, and is arranged concentrically with respect to the rotary cylinder 58.
  • a plurality of bearings are arranged between the fixed cylinder portion 601 and the rotary cylinder 58. With these bearings, it is possible to realize the smooth rotation of the rotary cylinder 58 around the rotation axis R5 with respect to the fixed cylinder portion 601.
  • a first retaining portion 601a that prevents the first movable tubular portion 602 from coming out upward is provided.
  • the first movable tubular portion 602 is vertically movable with respect to the fixed tubular portion 601.
  • the first movable tubular portion 602 has an outer diameter larger than the outer diameter of the fixed tubular portion 601, and is arranged concentrically with the fixed tubular portion 601.
  • a cylindrical thrust bearing 602a is arranged between the first movable cylinder portion 602 and the fixed cylinder portion 601. With this thrust bearing 602a, it is possible to realize smooth vertical movement of the first movable tubular portion 602 with respect to the fixed tubular portion 601.
  • a second retaining portion 602b that prevents the second movable tubular portion 603 from pulling upward with respect to the first movable tubular portion 602 is provided.
  • the second movable cylinder portion 603 is movable in the vertical direction with respect to the first movable cylinder portion 602.
  • the second movable tubular portion 603 has an outer diameter larger than the outer diameter of the first movable tubular portion 602, and is arranged concentrically with the first movable tubular portion 602.
  • a cylindrical thrust bearing 603a is arranged between the second movable cylinder portion 603 and the first movable cylinder portion 602. The thrust bearing 603a can realize smooth vertical movement of the second movable cylinder portion 603 with respect to the first movable cylinder portion 602.
  • the upper end of the second movable tubular portion 603 is fixed to the backup plate 75 (see FIG. 14) of the housing 7 as described above. Therefore, as shown in FIG. 9, when the mover 59 moves upward, the elevating part 70 rises, and the second movable cylinder part 603 moves upward following it. While the second movable tubular portion 603 is moving upward, the lower end of the second movable tubular portion 603 is caught by the second retaining portion 602b of the first movable tubular portion 602 via the sleeve bearing 603a, and The movable tubular portion 602 is lifted up. As a result, the expandable cover 60 extends upward.
  • the expansion / contraction cover 60 is a so-called telescopic pipe-shaped cover including the fixed cylinder portion 601, the first movable cylinder portion 602, and the second movable cylinder portion 603.
  • the stretchable cover 60 may be a bellows-like cover or a cover in which an upper cylinder fixed to the elevating part 70 and a lower cylinder fixed to the first plate 541 are stacked.
  • the guide part 61 is a part that guides the movement of the support part 56 in the vertical direction. As shown in FIG. 7, the guide portion 61 is arranged adjacent to the support portion 56. The guide portion 61 is attached to the first plate 541. As shown in FIG. 9, the guide portion 61 includes a movable shaft 62, a first guide cylinder member 63, and a second guide cylinder member 64.
  • the movable shaft 62 is fixed to the elevating part 70 (specifically, attached to the backup plate 75). Although the movable shaft 62 has a shaft shape in the present embodiment, it does not matter whether it has a solid structure or a hollow structure.
  • the movable shaft 62 extends in the up-down direction and has a flange portion 621 formed at the lower end portion.
  • the first guide cylinder member 63 is a member that is movable with respect to the movable shaft 62 along the longitudinal direction (vertical direction) of the movable shaft 62.
  • a thrust bearing 63 a is arranged between the first guide cylinder member 63 and the movable shaft 62.
  • An upper slip-out preventing portion 63b that prevents the thrust bearing 63a from slipping upward is provided on the upper end of the first guide cylinder member 63.
  • the lower end of the first guide cylinder member 63 is provided with a lower slip-off preventing portion 63c that hooks on the upper end of the second guide cylinder member 64.
  • the second guide cylinder member 64 is a member that is movable in the vertical direction with respect to the first guide cylinder member 63.
  • a thrust bearing 64 a is arranged between the first guide cylinder member 63 and the second guide cylinder member 64.
  • An upper slip-out preventing portion 64b that prevents the thrust bearing 64a from slipping upward is provided at the upper end of the second guide cylinder member 64.
  • the lower end of the second guide cylinder member 64 is fixed to the first plate 541.
  • the upper end of the movable shaft 62 is fixed to the elevating part 70 as described above. Therefore, as shown in FIG. 9, when the support portion 56 moves upward, the elevating portion 70 rises, and the movable shaft 62 moves upward following the elevation. When the movable shaft 62 moves upward, the flange portion 621 of the movable shaft 62 hits the thrust bearing 63a, and the first guide cylinder member 63 is pulled upward. At this time, the first guide tubular member 63 is guided by the second guide tubular member 64 to move in the vertical direction, and the movable shaft 62 is guided by the first guide tubular member 63 in the vertical direction. To be done.
  • the placement sensor 95 shown in FIG. 13 detects that the conveyed object X1 is placed on each of the elevating units 70.
  • the placement sensor 95 is attached to, for example, the upper end portion of the moving element 59 (see FIG. 8) of the support portion 56.
  • the placement sensor 95 is a non-contact sensor in this embodiment, and is specifically a proximity sensor. In this embodiment, an inductive proximity sensor is used as the proximity sensor, but a capacitance proximity sensor may be used.
  • the non-contact type sensor may be an ultrasonic sensor, a photoelectric sensor, or the like, and is appropriately selected according to the attribute of the conveyed product X1.
  • the placement sensor 95 is not limited to the non-contact sensor and may be a contact sensor. An example of the contact sensor is a weight sensor.
  • the fact that the conveyed object X1 is placed on the elevating unit 70 is detected by outputting the detection result of the conveyed object X1 approaching the placement sensor 95.
  • the raising / lowering unit 70 rises below the conveyed product X1
  • the raised / lowered unit 70 contacts the lower surface of the conveyed product X1.
  • the placement sensor 95 outputs a detection result that the conveyed product X1 has approached. Therefore, the placement sensor 95 detects that the conveyed product X1 is placed on the elevating part 70. Detect.
  • the plurality of placement sensors 95 are installed in correspondence with the plurality of elevating units 70. Therefore, for example, when there is a difference in height on the lower surface of the conveyed product X1, the timing of detection of the conveyed product X1 by the placement sensor 95 is shifted. The detection results of these placement sensors 95 are output to the control unit 9 described later.
  • the detecting unit 91 detects the behavior of the transport device 1, the surrounding conditions of the transport device 1, and the like.
  • the “behavior” here means an action, a state, and the like. That is, the behavior of the carrier device 1 includes the operating state of the carrier device 1 indicating that the carrier device 1 is running / stopped, the speed (and speed change) of the carrier device 1, the acceleration acting on the carrier device 1, and the carrier device 1. Including the posture of.
  • the detection unit 91 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and these sensors detect the behavior of the transport device 1.
  • the detection unit 91 includes, for example, sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and these sensors detect the surrounding situation of the transport device 1.
  • the surrounding situation of the carrier device 1 includes, for example, the presence or absence of an object (obstacle, etc.) existing in the forward direction of the carrier device 1, the position (distance and azimuth) of the object, and the like.
  • the obstacle includes the other moving body 1A and a person.
  • the detection unit 91 includes a plurality (here, four) of step sensor 93 and a plurality (here, two) of bumper sensor 94.
  • FIG. 11 is an enlarged view of the front portion of the moving body 1A according to this embodiment.
  • FIG. 12 is an enlarged view of the rear portion of the moving body 1A according to this embodiment.
  • the step sensor 93 detects a step on the moving surface 100.
  • the step sensor 93 is an optical sensor (distance measuring sensor) that applies light to the moving surface 100 to detect a step. Specifically, in the optical sensor, the light emitted from the light emitting element is applied to the object, and the reflected light is received by the light receiving element. Then, the distance to the object is measured from the position of incidence on the light receiving element using the principle of triangulation.
  • the light receiving element includes a PSD (Position Sensing Device), a CMOS (Complementary Metal Oxide Semiconductor), and a CCD (Charge-Coupled Device).
  • the step sensor 93 is not limited to the optical sensor, and an ultrasonic distance measuring sensor may be used.
  • the bottom plate 74 has a plurality of holes 745 through which light from the optical sensor passes.
  • a light exit hole and a light entrance hole are provided as the plurality of holes 745.
  • one hole 745 may be formed by connecting the light exit hole and the light entrance hole.
  • the hole 745 is not closed by the transparent plate, but the hole 745 may be closed by the transparent plate.
  • the plurality of step sensors 93 are arranged on both ends of the housing 7 in the front-rear direction. Furthermore, in the front part of the housing 7, as shown in FIG. 11, the direction in which the plurality of step sensors 93 are arranged intersects with the front-back direction. In the present embodiment, the direction in which the plurality of step sensors 93 are arranged is parallel to the left-right direction. As shown in FIG. 12, in the rear part of the housing 7, the direction in which the plurality of step sensors 93 are arranged intersects with the front-rear direction. In the present embodiment, the direction in which the plurality of step sensors 93 are arranged is parallel to the left-right direction.
  • the four level difference sensors 93 are arranged at the four corners of the housing 7. Therefore, the plurality of step sensors 93 are arranged at positions different from the moving motor 220, the lifting motor 510, and the battery 92 in a plan view.
  • Such a step sensor 93 is connected to the control unit 9 so that an electric signal can be transmitted, and the detection result can be output to the control unit 9.
  • the bumper sensor 94 detects that the transport device 1 has come into contact with an obstacle while moving.
  • the bumper sensor 94 is provided on both the front end and the rear end of the bottom plate 74 of the housing 7 in the front-rear direction.
  • the bumper sensor 94 outputs a detection result to the control unit 9 when an obstacle contacts the bumper sensor 94.
  • the bumper sensor 94 is used as a sensor for emergency stop in this embodiment.
  • Control Unit 9 controls driving of the plurality of moving motors 220 and the plurality of lifting motors 510.
  • the control unit 9 is connected to the plurality of movement motors 220, the plurality of lifting motors 510, the placement sensor 95, and the detection unit 91.
  • the control unit 9 outputs a control signal to the moving motor 220 and the lifting motor 510 according to an instruction from an instruction unit such as an external server device.
  • the control unit 9 mainly includes a microcontroller having one or more processors and one or more memories. That is, the function of the control unit 9 is realized by the processor of the microcontroller executing the program recorded in the memory of the microcontroller.
  • the program may be recorded in advance in a memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-transitory recording medium such as a memory card.
  • control unit 9 controls the operations of the lifting motor 510 and the movement motor 220 according to the detection results.
  • An operation example of the lifting motor 510 and the movement motor 220 by the control unit 9 in the present embodiment will be described in detail later in “(1.3) Operation”.
  • the control unit 9 detects the detection result of the placement sensor 95 corresponding to the first elevating unit 771 (see FIG. 14) and the detection result of the placement sensor 95 corresponding to the second elevating unit 781. Then, the determination process for determining the type of the conveyed object X1 is executed. For example, the control unit 9 controls the time T1 from the reference time until the placement sensor 95 corresponding to the first elevating unit 771 detects the conveyed object X1, and the placement sensor 95 corresponding to the second elevating unit 781 conveys. The time T2 until the object X1 is detected is acquired, and the difference T3 between T1 and T2 is calculated. Then, the type according to the shape of the lower surface of the conveyed product X1 can be determined according to the value of T3.
  • the “reference time point” is the time point when the operations of the first elevating part 771 and the second elevating part 781 start, but is the time point during the operation of the first elevating part 771 and the second elevating part 781. It may be.
  • the control unit 9 determines the type of the conveyed object X1, and changes the operations of the moving motor 220 and the lifting motor 510 according to the determination. For example, the control unit 9 can change the operation of the transfer device 1 according to the load by determining the type of load to be loaded according to the shape of the bottom surface of the transported object X1, that is, the shape of the bottom surface of the roll box pallet. it can. As an example, the control unit 9 can change the amount of rise of the conveyed object X1 or the traveling speed of the conveying device 1 according to the type of luggage.
  • the battery 92 (1.2.7) Battery
  • the battery 92 supplies electric power to the moving motor 220 and the lifting motor 510.
  • the battery 92 supplies electric power to the moving motor 220 and the lifting motor 510 via the control unit 9.
  • the battery 92 may directly supply electric power to the moving motor 220 and the lifting motor 510.
  • the battery 92 is a lithium ion battery in this embodiment.
  • the battery 92 may be a lead storage battery, a nickel hydrogen battery, a NAS battery (sodium sulfur battery), or the like.
  • the battery 92 is arranged between the moving motor 220 and the elevating mechanism 5 arranged at the front part of the housing 7 (see FIG. 17).
  • the housing 7 houses the control unit 9, the moving motor 220, the lifting mechanism 5 including the lifting motor 510, and the like. As shown in FIG. 14, the housing 7 includes a housing body 71, a plurality of backup plates 75, and a cover 76.
  • the case body 71 is a main part of the case 7.
  • the housing body 71 is a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and has a smaller vertical dimension than the left-right direction and the front-rear direction.
  • the vertical size of the case 7 is smaller than that of the horizontal direction of the case 7 so that the case 7 can be accommodated in the gap below the conveyed object X1. Small enough.
  • the housing body 71 includes a top plate 72, a plurality of side plates 73, and a bottom plate 74 (see FIG. 15).
  • the top plate 72 is a plate that constitutes a surface of the housing body 71 that faces upward.
  • the top plate 72 has openings (hereinafter, referred to as lift mechanism openings 723) formed at four corners in a plan view, and intake openings (hereinafter, referred to as intake ports 721). These openings 721 and 723 penetrate the top plate 72 in the thickness direction and communicate with the inside of the housing body 71.
  • the “four corners” referred to herein mean portions having a range located at both ends in the front-rear direction of the housing body 71 and at both ends in the left-right direction.
  • At least a part of the plurality of lifting mechanisms 5 is housed in the housing body 71.
  • Each lifting mechanism 5 is accommodated inside the lifting mechanism opening 723 in a plan view, and when the supporting portion 56 moves upward, the supporting portion 56 passes through the lifting mechanism opening 723 and goes above the upper surface of the top plate 72. Project in the direction.
  • the plurality of side plates 73 are plates that intersect the top plate 72 and the bottom plate 74 and form a surface of the housing main body 71 that faces the outside (outside) in the direction parallel to the moving surface 100.
  • the bottom plate 74 is a plate that constitutes a downward facing surface of the housing 7.
  • the lower surface of the bottom plate 74 faces the moving surface 100.
  • the bottom plate 74 is formed in a flat plate shape. As shown in FIG. 15, the bottom plate 74 has a bottom plate main body 741 and a plurality of (here, two) adjacent portions 742.
  • the bottom plate main body 741 is a part that forms most of the bottom plate 74. In the present embodiment, the bottom plate main body 741 overlaps the top plate 72 in plan view.
  • the bottom plate body 741 has a plurality of (here, four) corners.
  • the corner portion is a portion having a range including an angle formed by a side extending in the front-rear direction of the bottom plate 74 and a side extending in the left-right direction.
  • the bottom plate body 741 is made of metal in the present embodiment, but may be made of hard resin, carbon, wood, or the like.
  • the adjacent portion 742 is a plate that is arranged adjacent to the corner of the bottom plate body 741.
  • the plurality of adjacent portions 742 are arranged on both sides in the front-rear direction with respect to the bottom plate body 741.
  • each adjacent portion 742 is attached to the bottom plate body 741 such that the lower surface of each adjacent portion 742 is located above the lower surface of the bottom plate body 741.
  • Each adjacent portion 742 is made of metal, and is made of aluminum in this embodiment.
  • the bottom plate body 741 and the adjacent portion 742 may be made of the same material or different materials.
  • the plurality of backup plates 75 support the cover 76 in a reinforcing manner.
  • the backup plate 75 is thicker than the cover 76.
  • the plurality of backup plates 75 are arranged between the housing body 71 and the cover 76.
  • the plurality of backup plates 75 are arranged at positions corresponding to the first elevating part 771 and the second elevating part 781, respectively.
  • the backup plate 75 corresponding to the first elevating part 771 is referred to as a “first backup plate 751”.
  • the backup plate 75 corresponding to the second elevating part 781 is referred to as a "second backup plate 752".
  • the first backup plate 751 is arranged at a position overlapping the elevating mechanism 5 on the front part of the housing 7 in a plan view.
  • the plurality of support portions 56 of the lifting mechanism 5 the plurality of second movable tubular portions 603, and the movable shafts 62 of the plurality of guide portions 61 are attached.
  • the support part 56 moves upward, the first backup plate 751 rises and the first elevating part 771 rises.
  • the second backup plate 752 is arranged at a position overlapping the lifting mechanism 5 at the rear of the housing 7 in plan view. Similar to the first backup plate 751, the second backup plate 752 includes movable shafts of the plurality of support portions 56, the plurality of second movable cylinder portions 603, and the plurality of guide portions 61 of the lifting mechanism 5 at the rear portion of the housing 7. 62 are attached respectively. As a result, when the support portion 56 moves upward, the second backup plate 752 rises and the second elevating portion 781 rises.
  • the cover 76 covers the housing body 71 from at least the top.
  • the cover 76 includes a first cover 77, a second cover 78, and an intermediate cover 79.
  • the first cover 77 covers the front portion of the top plate 72 of the housing body 71.
  • the first cover 77 has a first elevating part 771 and a pair of side surface parts 772.
  • the first elevating part 771 is a part that moves up and down with respect to the moving surface 100 and on which the conveyed product X1 is placed.
  • the first elevating unit 771 can move up and down in accordance with the upward movement and the downward movement of the elevating mechanism 5.
  • the first elevating part 771 has a pair of anti-slip parts 771a which are separated in the left-right direction and which prevent the conveyed object X1 from slipping.
  • the second cover 78 covers the rear part of the top plate 72 of the housing body 71.
  • the second cover 78 has a second elevating part 781 and a pair of side surface parts 782.
  • the second elevating part 781 is a part that ascends and descends with respect to the moving surface 100 and on which the conveyed product X1 is placed, similarly to the first elevating part 771.
  • the second elevating unit 781 can move up and down as the elevating mechanism 5 moves upward and downward.
  • the second elevating / lowering portion 781 has a pair of anti-slip portions 781a that are separated in the left-right direction to prevent the article X1 from slipping.
  • each of the first elevating unit 771 and the second elevating unit 781 may be referred to as an “elevating unit 70” if no particular distinction is required.
  • the intermediate cover 79 connects the first cover 77 and the second cover 78.
  • the intermediate cover 79 is attached to the first cover 77 and the second cover 78 so as to be rotatable about an axis extending in the left-right direction. Therefore, as shown by the imaginary line in FIG. 16, when the second elevating part 781 is located higher than the first elevating part 771, the intermediate cover 79 moves from the second cover 78 toward the first cover 77. Slope down. Further, when the first elevating part 771 is located higher than the second elevating part 781, the intermediate cover 79 is inclined downward from the first cover 77 toward the second cover 78. When the first elevating part 771 and the second elevating part 781 have the same height, the upper surface of the intermediate cover 79 is located on the same plane as the upper surfaces of the first cover 77 and the second cover 78.
  • the carrying device 1 includes a plurality of lifting motors 510, a plurality of moving motors 220, a battery 92, and a plurality of step sensors 93.
  • the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of step sensors 93 are dispersed in a plan view (that is, viewed in a direction orthogonal to the moving surface 100).
  • “dispersed” in the present disclosure means that the respective elements do not overlap in a plan view, for example, when two elements are only adjacent to each other but do not overlap in a plan view. Is included in "distributed”.
  • the "plurality of lifting motors 510", “plurality of moving motors 220", “battery 92" and “plurality of step sensors 93" referred to here mean only the main body portion, for example, a cable or Accessories, etc. are not included. Therefore, for example, even when two moving motors 220 are adjacent to each other and the cable of one moving motor 220 overlaps with the cable of the other moving motor 220 in a plan view, the present disclosure is disclosed. It is included in “dispersed”. Further, even when the two moving motors 220 are adjacent to each other and the cable of one moving motor 220 overlaps with the main body of the other moving motor 220, the term “dispersion” in the present disclosure is used. Included in that.
  • the plurality of moving motors 220 and the battery 92 are arranged at different positions in a plan view.
  • the term “arranged at different positions” as used in the present disclosure means that the elements do not overlap each other in a plan view, as in the case of “dispersed”, and the distance between the elements is not particularly limited.
  • the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of detection units 91 are dispersed in a plan view. However, as shown in FIG. 18, at least some of the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of step sensors 93 are arranged on one virtual surface parallel to the moving surface 100. To position. In short, at least a part of the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of step sensors 93 overlap when viewed in the direction parallel to the moving surface 100. Particularly, in the present embodiment, the plurality of lifting motors 510, the plurality of moving motors 220, and the plurality of step sensors 93 are contained within the thickness (vertical dimension) of the battery 92.
  • the carrier device 1 since the main components are dispersed in a plan view and are accommodated within a certain height in the vertical direction, the vertical dimension of the housing 7 is made as small as possible. can do. As a result, it is possible to realize the transport device 1 having a height dimension that allows it to enter the gap below the transported object X1.
  • FIG. 19 shows a plan view of the carrier device 1 according to the present embodiment.
  • the moving body 1A includes an intake port 721 and a plurality of exhaust ports 743 (see FIG. 20).
  • the air taken in from the intake port 721 into the housing 7 performs heat exchange with at least one of the substrates that realize the moving motor 220, the lifting motor 510, and the control unit 9, and then the air is discharged from the exhaust port 743.
  • the inside of the housing 7 can be cooled.
  • the intake port 721 is an opening for taking in air into the housing body 71 (that is, the housing 7). As shown in FIG. 14, the intake port 721 is formed in the top plate 72 of the housing body 71 and communicates with the inside of the housing body 71.
  • the intake port 721 according to the present embodiment is formed at a position that overlaps with a gap 791 (see FIG. 21) between the second cover 78 and the intermediate cover 79 in the plan view or in the vicinity thereof.
  • the exhaust port 743 is an opening for discharging the air inside the housing body 71 to the outside.
  • the “outside” as referred to in the present disclosure means a space outside the carrier device 1, and it does not matter whether it is indoors or outdoors.
  • the exhaust port 743 is formed below the intake port 721.
  • the exhaust port 743 is formed in the bottom plate 74, as shown in FIG.
  • the exhaust port 743 may be formed in the side plate 73 of the housing body 71, or when there is a difference in height on the top surface of the top plate 72 due to a step formed on the top plate 72, It may be formed on the top plate 72.
  • an intake port 721 is formed in the bottom plate 74 so as to take in air from between the bottom plate 74 and the moving surface 100.
  • the air taken in through the intake port 721 easily gets on the air, so that moisture, dust, or the like easily enters the inside of the housing 7.
  • the intake port 721 faces upward and the exhaust port 743 is formed below the intake port 721, so that moisture, dust, and the like are prevented from being taken into the housing 7. be able to.
  • the carrier device 1 according to the present embodiment it is possible to suppress the temperature rise inside the housing 7 while suppressing the water from entering the inside of the housing 7.
  • the transport device 1 is provided with a plurality (here, two) for forming a flow of air (air flow) that sequentially flows from the outside to the intake port 721, the inside of the housing 7, and the exhaust port 743 to the outside.
  • One) fan 744 (see FIG. 19).
  • the fan 744 is arranged on the upper surface of the bottom plate 74 at a position corresponding to the plurality of exhaust ports 743. With this, it is possible to forcibly form an air flow that takes in air from the outside and discharges it from the inside of the housing 7 to the outside.
  • the carrier device 1 is provided with the plurality of fans 744 so as to have a one-to-one relationship with the plurality of exhaust ports 743, but one fan 744 is provided for the plurality of exhaust ports 743.
  • One exhaust port 743 may be provided with a plurality of fans 744.
  • FIG. 21 shows an enlarged view around the intake port 721.
  • An inner cover 722 having a weir 725, an outer cover 726, and a through hole plate 727 having a plurality of through holes are attached to the intake port 721.
  • a plurality of through holes (through holes) are formed in the through hole plate 727.
  • the through-hole plate 727 can allow air to pass through while suppressing entry of moisture, dust, and the like to some extent.
  • the through-hole plate 727 is placed on the inner cover 722 and is arranged so as to cover the intake port 721.
  • the inner cover 722 includes a fitting portion 724 fitted into the intake port 721, and a dam portion 725 extending from the fitting portion 724 to the outside of the intake port 721.
  • the dam portion 725 surrounds the intake port 721 in a plan view.
  • the inner cover 722 is formed so as to be continuous over the entire length of the outer circumference.
  • the dam portion 725 projects upward from the upper surface of the top plate 72 of the housing body 71.
  • the dam portion 725 is provided as a member different from the housing 7, but the invention is not limited to this.
  • the dam portion 725 may be formed, for example, by welding or the like with respect to the housing 7, or the ceiling plate 72 of the housing 7 may be embossed or the like to integrally form the dam portion 725 so as to surround the intake port 721. You may. Further, in the present embodiment, the dam portion 725 is continuous over the entire length of the outer circumference of the intake port 721, but may be partially interrupted.
  • the transport apparatus 1 includes a plurality of (two in this case) protective bodies 8 attached to the bottom plate 74 of the housing 7, as shown in FIG.
  • the plurality of protective bodies 8 are members that prevent the bottom surface of the housing 7 from coming into contact with the moving surface 100. At least a part of the protective body 8 is located between the metal plate (here, the adjacent portion 742) of the housing 7 and the moving surface 100.
  • Between the metal plate and the moving surface 100 in the present disclosure means between the metal plate and the moving surface 100 in a state where the bottom plate 74 is close to the moving surface 100.
  • the plurality of protective bodies 8 are attached to the bottom plate main body 741 of the bottom plate 74.
  • a plurality of protecting bodies 8 are provided between the metal plate and the moving surface 100.
  • the protective body 8 of 1 prevents the metal plate from coming into contact with the moving surface 100.
  • the protector 8 is made of resin, specifically, white MC nylon (registered trademark). However, the protector 8 may be made of rubber, elastomer, urethane, nylon, phenol, polycarbonate, or the like. The protector 8 does not have to have a block shape, and may have a seal shape, a sheet shape, or the like.
  • the color of the protective body 8 is preferably similar to the color of the moving surface 100.
  • the protector 8 is fixed to the bottom plate 74 by a fastener.
  • the protective body 8 is formed with a counterbored portion 81 in which the head of the fixing tool is accommodated.
  • the counterbore processing unit 81 includes deep counterbore, counterbore, and the like.
  • the protector 8 is detachably attached to the bottom plate 74 in this embodiment.
  • "removable” is realized by using a fastener as a screw.
  • Examples of the structure in which the protector 8 is detachably attached to the bottom plate 74 include fitting, hooking, bonding, and inserting.
  • Protective body 8 has chamfers 82 formed at least in the lower corners on the front side in the front-rear direction. In the present embodiment, the protector 8 is also formed with a chamfer 83 at the lower corner on the rear side in the front-rear direction.
  • the protective body 8 is formed in a trapezoidal cross section that becomes narrower in the downward direction.
  • the plurality of protectors 8 are attached to at least two corners of the bottom plate body 741 as shown in FIG.
  • the two corners mentioned here are rear corners of the bottom plate body 741 in the front-rear direction.
  • the relationship between the plurality of corners and the plurality of protectors 8 is a one-to-one relationship.
  • the plurality of protectors 8 are arranged outside the auxiliary wheel 45 in the front-rear direction when viewed from below (hereinafter, referred to as bottom view).
  • the protector 8 is arranged in the rear part of the bottom plate main body 741 outside the front auxiliary wheel 45 in the front-rear direction, but in the front part of the bottom plate main body 741 more than the front auxiliary wheel 45. It may be arranged outside in the front-rear direction. Further, the protector 8 may be arranged at all corners of the bottom plate body 741.
  • the protector 8 is arranged outside the rear auxiliary wheel 45 in the front-rear direction in the rear part of the bottom plate main body 741.
  • the buffer mechanism 39 of the second auxiliary wheel unit 3B on the rear side in the front-rear direction is the second buffer mechanism 39
  • the buffer mechanism 39 of the first auxiliary wheel unit 3A on the front side is the first buffer mechanism 39.
  • the distance D1 between the protective body 8 and the second buffer mechanism 39 is smaller than the distance D2 between the protective body 8 and the first buffer mechanism 39.
  • the transport device 1 drives the plurality of drive wheels 28 by controlling the moving motor 220 by the control unit 9 and autonomously travels on the moving surface 100.
  • the transport device 1 autonomously travels on the moving surface 100 according to the electronic map stored in the memory (for example, the memory of the control unit 9).
  • the electronic map can be updated, for example, by wireless communication with an external system.
  • the transport device 1 detects the surrounding conditions of the transport device 1 and the like by the detection unit 91 while traveling.
  • the transport device 1 stops on the spot and waits until the obstacle is removed from the spot by an operator or the like.
  • the transport device 1 starts moving again.
  • the transportation device 1 when the detection unit 91 detects an obstacle that obstructs traveling, the transportation device 1 may autonomously travel so as to avoid the obstacle within a range that does not deviate from the travel route.
  • the transport device 1 when the transport device 1 receives the transport command, when the transport device 1 reaches the position of the transport product X1, it mounts the transport product X1. Specifically, in the transport device 1, first, with the elevating part 70 in the lower limit position of the movable range, the transport device 1 goes under the transported object X1. In this state, the lifting / lowering motor 510 is operated to raise the lifting / lowering unit 70 to the upper limit position of the movable range, so that the lifting / lowering unit 70 lifts the conveyed object X1. As a result, the articles X1 can be stacked on the elevating part 70.
  • the transport device 1 operates, for example, as follows according to the detection result by the detection unit 91.
  • the control unit 9 controls the moving motor 220 to stop the transport device 1.
  • the transport device 1 may retreat or turn to autonomously travel so as to avoid the step.
  • the moving motor 220 is moved. To stop.
  • the transport device 1 may be retracted.
  • the conveyance device 1 may be turned to the side opposite to the side in which the step is detected in the left-right direction. Further, the operation of the transport device 1 may be appropriately set by combining the detection results of the sonar sensor and the step sensor 93.
  • the control unit 9 raises the lifting unit 70 by operating the lifting motor 510 in a state in which the transport device 1 sunk below the transported object X1. . At this time, the control unit 9 synchronously raises the first elevating unit 771 and the second elevating unit 781.
  • the operation is performed as follows.
  • the carrier device 1 raises the first elevating unit 771 and the second elevating unit 781 in synchronization.
  • the placement sensor 95 corresponding to the first elevating unit 771 detects the conveyed object X1.
  • the placement sensor 95 corresponding to the second elevating / lowering unit 781 does not detect the conveyed object X1, but the second elevating / lowering unit 781 continues to rise for a certain period of time.
  • the second elevating part 781 When the second elevating part 781 is raised for a certain period of time, the transported object X1 is placed on the second elevating part 781. Then, the placement sensor 95 corresponding to the second elevating / lowering unit 781 detects the conveyed object X1, and as described above, depending on the time difference from the reference time until each placement sensor 95 detects the conveyed object X1, the conveyance object X1 is conveyed. The type of the article X1 is determined, and the operation according to the type of the conveyed article X1 is executed. In this case, in the present embodiment, the first elevating part 771 and the second elevating part 781 are raised by a certain size (for example, 20 mm).
  • the placement sensor 95 corresponding to the second lifting / lowering unit 781 does not detect the conveyed object X1 even after the second lifting / lowering unit 781 is lifted for a certain period of time, the lifting is stopped, or after the temporary stop, the first The elevating part 771 and the second elevating part 781 may be lowered.
  • the dimensions for raising the first elevating unit 771 and the second elevating unit 781 may be changed or the moving speed of the moving body 1A may be changed according to the type of the conveyed object X1.
  • the control unit 9 controls the plurality of placement sensors 95 according to the difference in time from the reference time to the time when the conveyance object X1 (placement object) is detected.
  • the raising / lowering unit 70 is controlled to change its operation.
  • the moving body 1A is the transport device 1, but the moving body 1A is not limited to the moving body 1A in which the wheels 10 rotate and move around the rotation axis parallel to the moving surface 100.
  • the moving body 1A includes, for example, a moving body 1A that moves by a rack and pinion, a moving body 1A that moves by pulling a wire, and the like.
  • Mobile unit 1A includes an AGV (Automated Guided Vehicle), a mobile robot, a drone, and the like.
  • the “mobile robot” in the present disclosure is, for example, a wheel 10 type robot or a crawler 451 type robot.
  • the moving body 1A may not only move within a predetermined area, but may also have a function of performing various works such as transportation, picking, welding, mounting, display, customer service, security, assembly, and inspection. .
  • the drive source 22 for moving the moving surface 100 was the moving motor 220, but may be, for example, a direct-acting actuator and is not limited to the motor. The same applies to the lifting motor 510.
  • the drive wheel 28 is arranged between the two auxiliary wheels 45, but the drive wheel 28 is arranged between the two auxiliary wheels 45 and another drive wheel 28 is arranged between the two auxiliary wheels 45. It may be arranged outside 45. Further, the auxiliary wheels 45 and the drive wheels 28 may be alternately arranged in the front-rear direction.
  • the transport device 1 includes one auxiliary wheel 45 arranged in the center in the left-right direction as the auxiliary wheel 45 arranged in front of the drive wheel 28, but a plurality of auxiliary wheels 45 separated in the left-right direction are provided.
  • the auxiliary wheel 45 may be provided.
  • the transport device 1 may include a plurality of auxiliary wheels 45 that are separated from each other in the left-right direction as the auxiliary wheels 45 that are arranged behind the drive wheels 28.
  • the transport device 1 includes the four buffer springs 44, but may include the two buffer springs 44 arranged only in one diagonal. Further, the transfer device 1 may include one buffer spring 44 at the center of the movable frame 40 in plan view. In short, at least one buffer spring 44 is enough.
  • the carrier device 1 of the present embodiment includes a plurality of (here, two) drive wheels 28 and a plurality (here, two) auxiliary wheels 45 as the plurality of wheels 10.
  • all of the plurality of wheels 10 may be the drive wheels 28, one of the plurality of wheels 10 may be the drive wheels 28, and all of the other wheels may be the auxiliary wheels 45.
  • One of the wheels 10 may be the auxiliary wheel 45 and all the others may be the drive wheels 28.
  • the auxiliary wheel 45 is the wheel 10, but the “auxiliary wheel 45” in the present disclosure includes a sphere rolling on the moving surface 100.
  • the carrier device 1 (moving body 1A) in the present disclosure includes a computer system.
  • the computer system mainly includes a processor as a hardware and a memory.
  • the processor executes the program recorded in the memory of the computer system, the function as the carrier device 1 (moving body 1A) in the present disclosure is realized.
  • the program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, a hard disk drive, which can be read by the computer system. May be provided.
  • the processor of the computer system is composed of one or a plurality of electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • the integrated circuit such as an IC or an LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • An FPGA Field-Programmable Gate Array
  • the plurality of electronic circuits may be integrated in one chip, or may be distributed and provided in the plurality of chips.
  • the plurality of chips may be integrated in one device or may be distributed and provided in the plurality of devices.
  • the computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large scale integrated circuit.
  • substantially parallel means substantially “parallel”, and includes not only a strictly “parallel” state but also an error of about several percent. The same applies to expressions with other "abbreviations”.
  • the moving body (1A) according to the first mode includes the housing (7), the moving motor (220), and the battery (92).
  • the moving motor (220) moves the housing (7) along the moving surface (100).
  • the battery (92) supplies electric power to the moving motor (220).
  • the moving motor (220) and the battery (92) are arranged at different positions when viewed in the direction orthogonal to the moving surface (100).
  • the dimensions can be kept as small as possible.
  • the moving body (1A) according to the second aspect further includes an elevating motor (510) for operating the elevating section (70) capable of elevating with respect to the moving surface (100) in the first aspect.
  • the lifting motor (510), the moving motor (220), and the battery (92) are dispersed when viewed in the direction orthogonal to the moving surface (100).
  • the lifting motor (510), the moving motor (220) and the battery (92) do not overlap in the direction orthogonal to the moving surface (100), the direction orthogonal to the moving surface (100).
  • the size of the housing (7) can be kept as small as possible.
  • the moving body (1A) according to the third aspect includes a plurality of lifting motors (510) in the second aspect.
  • the movement direction of the movement motor (220) is at least one of the front-back direction.
  • the plurality of lifting motors (510) are separated in the front-rear direction.
  • the dimensions of the housing (7) in the direction orthogonal to the traveling surface (moving surface 100) can be suppressed as small as possible while disposing a plurality of lifting motors (510).
  • the moving motor (220) is arranged between the plurality of lifting motors (510).
  • the size of the housing (7) in the direction orthogonal to the moving surface (100) is kept as small as possible while the plurality of lifting motors (510) and moving motors (220) are arranged. You can
  • the moving motor (220) and the battery (92) are viewed in a direction parallel to the moving surface (100). And at least part of them overlap.
  • the moving motor (220) and the battery (92) can be integrated in the direction orthogonal to the moving surface (100), the housing (7) in the direction orthogonal to the moving surface (100) is formed. ) Can be kept as small as possible.
  • the moving body (1A) according to the sixth aspect further includes at least one step sensor (93) for detecting a step on the moving surface (100) in any one of the first to fifth aspects.
  • the step sensor (93), the moving motor (220), and the battery (92) are dispersed when viewed in a direction orthogonal to the moving surface (100).
  • the moving direction by the moving motor (220) is at least one of the front-back direction.
  • the moving body (1A) includes at least four step sensor (93).
  • the four step sensors (93) are arranged at both ends of the moving body (1A) in the front-rear direction and are apart from each other in a direction intersecting the front-rear direction.
  • two of the four step sensors (93) are arranged at the front end portion of the moving body (1A) in the front-rear direction, and the aligned directions intersect in the front-rear direction.
  • the other two are arranged at the rear end of the moving body (1A) in the front-rear direction, and the lined-up directions intersect in the front-rear direction.
  • the step on the moving surface (100) can be detected regardless of the direction in which the moving body (1A) moves along the moving surface (100).
  • the step sensor (93) is arranged on the bottom plate (74) of the housing (7) and is illuminated on the moving surface (100). It is an optical sensor for detecting a step by applying. At least one hole (745) through which light passes is formed on the surface of the housing (7) facing the moving surface (100).
  • the step sensor (93) can be arranged on the bottom plate (74) of the housing (7), and the size can be reduced in the direction along the moving surface (100).
  • a moving body (1A) according to a ninth aspect is the moving body (1A) according to any one of the first to eighth aspects, wherein the moving body (1A) is mounted on an elevating part (70) capable of moving up and down with respect to the moving surface (100). It is a carrier device (1) on which a carrier (X1) is placed.
  • the moving body (1A) having a small dimension in the direction orthogonal to the moving surface (100) can be used for the transfer device (1).
  • the moving body (1A) in any one of the first to eighth aspects, moves up and down with respect to the moving surface (100), and has a plurality of elevating units (on which the transported object (X1) is placed ( 70) is further provided.
  • the plurality of lifts (70) are configured to move up and down independently.
  • the elevating part (70) can be raised according to the shape of the lower surface of the conveyed product (X1), and a stable state can be obtained for a plurality of types of conveyed products (X1) having different lower surface shapes.
  • the conveyed product (X1) can be raised.
  • a mobile body (1A) according to an eleventh aspect is the moving body (1A) according to any one of the first to tenth aspects, wherein at least one drive wheel (28), at least one auxiliary wheel (45), and at least one shock absorber. And a mechanism (39).
  • the drive wheels (28) are driven by the power transmitted from the drive source (22).
  • the auxiliary wheel (45) assists the movement by the drive wheel (28).
  • the buffer mechanism (39) softens the impact input from the auxiliary wheel (45).
  • a moving body (1A) according to a twelfth aspect is the moving body (1A) according to any one of the first to eleventh aspects, wherein a drive wheel (28) that supports the housing (7) on a moving surface (100), and a housing ( 7), and a drive source (22) for driving the drive wheels (28).
  • the housing (7) includes at least one intake port (721) formed so as to open upward and at least one exhaust port (743).
  • the exhaust port (743) communicates with the intake port (721) and is formed below the intake port (721).
  • the mobile body (1A) according to the thirteenth aspect further includes at least one resin protective body (8) in any one of the first to twelfth aspects.
  • the housing (7) has a bottom plate (74) facing the moving surface (100) and at least a part of which is a metal plate. At least a part of the protective body (8) is located between the metal plate and the moving surface (100).
  • the moving body (1A) according to the fourteenth aspect further includes a plurality of elevating mechanisms (5) provided in a one-to-one correspondence with the plurality of elevating sections (70) in the tenth aspect.
  • Each of the plurality of lifting mechanisms (5) supports one lifting unit (70) of the plurality of lifting units (70) and supports the one lifting unit (70) along the lifting direction. It has a part (56) and one drive source (51) for moving a plurality of support parts (56).
  • the moving body (1A) according to the fifteenth aspect further includes an intermediate cover (79) that connects between the plurality of elevating units (70) in the tenth or fourteenth aspect.
  • the transported object (X1) is placed on each of the plurality of lifting and lowering sections (70).
  • each of the plurality of placement sensors (95) is a non-contact sensor.
  • the plurality of placement sensors (95) in the plurality of lifts (70) are set to a reference time point.
  • the operations of the plurality of lifting / lowering units (70) are changed according to the time difference until the time when it is detected that the conveyed product (X1) is placed.
  • the moving body (1A) has the first elevating section (771) and the second elevating section (781) in any one of the tenth, fourteenth to eighteenth aspects.
  • the first elevating unit (771) is one of the elevating units (70).
  • the second elevating part (781) is another one of the plurality of elevating parts (70) and is arranged at a position apart from the first elevating part (771).
  • a large conveyed product (X1) can be stably lifted in the direction along the moving surface (100).
  • the moving body (1A) according to the twentieth aspect is different from the eleventh aspect in that the buffer mechanism (39) for relieving the shock input from the drive wheel (28) is not provided.
  • the drive wheel (28) is provided with the buffer mechanism (39), the size of the moving body (1A) in the vertical direction is inevitably increased, but according to this aspect, the auxiliary wheel (45) softens the impact. Therefore, the vertical size of the moving body (1A) can be suppressed.
  • the mobile body (1A) according to the twenty-first aspect is provided with a plurality of auxiliary wheels (45) and a buffer mechanism (39) in the eleventh or twentieth aspect.
  • Each of the plurality of damping mechanisms (39) has at least one damping spring (44).
  • the total deflection of the buffer spring (44) is different between the buffer mechanism (39) corresponding to any one of the plurality of auxiliary wheels (45) and the buffer mechanism (39) corresponding to the other one.
  • the drive wheel (28) is arranged between the plurality of auxiliary wheels (45).
  • the auxiliary wheels (45) can be arranged in good balance.
  • the mobile body (1A) according to the twenty-third aspect further includes an auxiliary wheel support portion (34) in any one of the eleventh, twentieth to twenty-second aspects.
  • the auxiliary wheel support portion (34) rotatably supports the auxiliary wheel (45) about a rotation axis extending along the moving surface (100) and is rotatable about an axis orthogonal to the moving surface (100). .
  • the auxiliary wheel (45) can be moved according to the operation of the drive wheel (28), and an appropriate operation as the moving body (1A) can be realized.
  • the exhaust port (743) is formed on the bottom surface of the housing (7).
  • an airflow that is taken into the housing (7) from the intake port (721) and exits from the exhaust port (743) is formed. Further provided is at least one fan (744).
  • air can be forcibly taken into the housing (7) from the intake port (721) and discharged from the exhaust port (743). It is possible to suppress the temperature rise of the drive source (51) and the like in the housing (7) while suppressing the infiltration of water.
  • the mobile body (1A) according to the twenty-sixth aspect further includes a dam portion (725) surrounding the intake port (721) in any one of the twelfth, twenty-fourth to twenty-fifth aspects.
  • the casing (7) has a plurality of exhaust ports (743).
  • the flow rate of exhaust gas can be increased as compared with the case where there is one exhaust port (743).
  • the protector (8) is fixed to the bottom plate (74) by at least one fastener.
  • the mounting state of the protector (8) can be stabilized.
  • the protective body (8) is provided with a countersunk portion (81) for accommodating the head of the fastener.
  • the head of the fixing tool can be made not to project from the protective body (8), it is possible to prevent the traveling surface from being damaged by the head of the fixing tool.
  • the protector (8) is detachably attached to the housing (7). There is.
  • the protector (8) when the protector (8) is worn, it can be replaced.
  • the mobile body (1A) according to the thirty-first aspect is provided with a plurality of protective bodies (8) in any one of the thirteenth, twenty-eighth to thirtieth aspects.
  • the bottom plate (74) has a bottom plate main body 741 having a plurality of corners and at least one adjoining part (742) as a metal plate adjacent to the plurality of corners.
  • a plurality of protectors (8) are provided at a plurality of corners.
  • At least one of the moving surface (100) and the bottom plate (74) can be appropriately protected.
  • the mobile body (1A) according to the thirty-second aspect is the mobile body (1A) according to any one of the thirteenth, twenty-eighth to thirty-first aspects, in which the housing (7) is supported on the moving surface (100) and is separated in the moving direction.
  • the vehicle further comprises wheels (10).
  • the protective body (8) is provided outside the wheel (10) in the moving direction.
  • At least one of the moving surface (100) and the bottom plate (74) can be appropriately protected by the protector (8) when the bottom plate (74) is inclined.
  • One of the two damping mechanisms (39) is a first damping mechanism having at least one damping spring (44).
  • the other of the two cushioning mechanisms (39) is a second cushioning mechanism having a cushioning spring (44) whose total deflection is smaller than that of the cushioning spring (44).
  • the distance (D1) between each of the plurality of protectors (8) and the first buffer mechanism is shorter than the distance (D2) between each of the plurality of protectors (8) and the second buffer mechanism.
  • At least one of the moving surface (100) and the bottom plate (74) is appropriately protected in the moving body (1A) having the buffer mechanism (39) in which the total deflection of the buffer spring (44) is different. be able to.
  • the mobile body (1A) according to the thirty-fourth aspect is the mobile body (1A) according to any one of the thirteenth, twenty-eighth to thirty-third aspects, wherein the plurality of protective bodies (8) are arranged at the rear part of the housing (7). ..
  • At least one of the moving surface (100) and the bottom plate (74) can be appropriately protected even when the rear part is close to the moving surface (100). it can.
  • the front lower corner portion of the protector (8) is chamfered.
  • the protector (8) can be brought into planar contact with the traveling surface.
  • the configurations according to the second to thirty-fifth aspects are not indispensable configurations for the mobile body (1A), and can be appropriately omitted.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Motorcycle And Bicycle Frame (AREA)
PCT/JP2019/039691 2018-10-15 2019-10-08 移動体 WO2020080200A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2020553096A JP7466109B2 (ja) 2018-10-15 2019-10-08 移動体
DE112019005145.8T DE112019005145T5 (de) 2018-10-15 2019-10-08 Bewegungs-Körper
US17/283,727 US20210339993A1 (en) 2018-10-15 2019-10-08 Moving body
CN201980067748.4A CN112912295A (zh) 2018-10-15 2019-10-08 移动体
JP2024043231A JP2024083362A (ja) 2018-10-15 2024-03-19 移動体

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JP2018194044 2018-10-15
JP2018-194042 2018-10-15
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JP2018194042 2018-10-15
JP2018-194046 2018-10-15
JP2018194045 2018-10-15
JP2018194043 2018-10-15
JP2018-194043 2018-10-15
JP2018194046 2018-10-15
JP2018-194044 2018-10-15

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JP (2) JP7466109B2 (de)
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WO (1) WO2020080200A1 (de)

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JP2024083362A (ja) 2024-06-21
US20210339993A1 (en) 2021-11-04
CN112912295A (zh) 2021-06-04
DE112019005145T5 (de) 2021-07-15
JP7466109B2 (ja) 2024-04-12

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